Abstract
The multi-rigid body dynamic model of the hydraulic Stewart platform was presented through Kane formulation, and the general mass matrix of the platform was proposed, and then the general stiff matrix of the system was obtained by regarding hydraulic actuator as hydraulic spring. The natural frequency formulation of the platform was derived and this formulation was proved to be validated. The natural frequency formulation was applied to compute and analyze the Stewart platform in spacecraft docking mechanism test system, providing a basis for the synthesis and debugging of the platform's controller.
| Original language | English |
|---|---|
| Pages (from-to) | 308-313 |
| Number of pages | 6 |
| Journal | Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) |
| Volume | 39 |
| Issue number | SUPPL. 1 |
| State | Published - Mar 2009 |
| Externally published | Yes |
Keywords
- Automatic control technology
- Hydraulic Stewart platform
- Kane formulation
- Multi-rigid body dynamic model
- Natural frequency